Optimization of the closed-loop controller of a discontinuous capsule drive using a neural network

In this paper the construction of a neural-network based closed-loop control of a discontinuous capsule drive is analyzed. The foundation of the designed controller is an optimized open-loop control function. A neural network is used to determine the dependence between the output of the open-loop controller and the state of the system. Robustness of the neural controller with respect to variation of parameters of the controlled system is analyzed and compared with the original optimized open-loop control. It is expected that the presented method can facilitate the construction of closed-loop controllers for which alternative methods are not effective, such as non-smooth or discontinuous ones.